Focus is separate from depth perception or the fact that we have two eyes. Consider a camera, a camera only has one “eye” but it still needs to focus on an image.
Our eyes have lenses, and those lenses can be adjusted to focus on something nearby, or far away. In fact, this also means we have a limited amount of depth perception with only one eye, we can tell what things are not in focus and which things are, and from that estimate that one is nearer or farther away. It doesn’t work quite as well, but it does work.
The individual eyes have to adjust their lenses for the distance you are trying to focus on, this is independent from their pointing inward to see nearby objects.
Ultimately, our brains take all of the information including the focus and the eye crossing and everything both eyes see, to figure out what the world looks like.
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